DUNE: Uniform Navigational Environment  2.3.2
Monitors::OperationalLimits::Task Struct Reference

Classes

struct  LError
 

Public Types

typedef std::map< uint8_t, LErrorLErrorMap
 
- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,
  StateUnknown
}
 

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void init (fp32_t &v, fp32_t dfl, uint8_t mask)
 
void onUpdateParameters (void)
 
void reset (void)
 
void consume (const IMC::OperationalLimits *msg)
 
void setError (uint8_t lmask, const char *ldesc, double v1, double v2)
 
void clearError (uint8_t lmask, const char *ldesc, double v1, double v2)
 
bool test (uint8_t lmask, const char *ldesc, double v1, double v2, double hyst=0.0)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::GetOperationalLimits *msg)
 
void updateState (void)
 
void task (void)
 
- Public Member Functions inherited from DUNE::Tasks::Periodic
 Periodic (const std::string &name, Context &ctx)
 
virtual ~Periodic (void)
 
void setFrequency (double freq)
 
double getFrequency (void) const
 
double getRunTime (void) const
 
unsigned getRunCount (void) const
 
- Public Member Functions inherited from DUNE::Tasks::Task
 Task (const std::string &name, Context &context)
 
virtual ~Task (void)
 
const char * getName (void) const
 
const char * getSystemName (void) const
 
unsigned int getSystemId (void) const
 
unsigned int getEntityId (void) const
 
uint16_t getActivationTime (void) const
 
uint16_t getDeactivationTime (void) const
 
unsigned int resolveSystemName (const std::string &name) const
 
const char * resolveSystemId (unsigned int id) const
 
void loadConfig (void)
 
void setPriority (unsigned int value)
 
unsigned int getPriority (void) const
 
void inf (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void war (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void void err (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void void void cri (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void void void void debug (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void void void void void trace (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void void void void void void spew (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void void void void void
void void 
dispatch (IMC::Message *msg, unsigned int flags=0)
 
void dispatch (IMC::Message &msg, unsigned int flags=0)
 
void dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)
 
void receive (const IMC::Message *msg)
 
void reserveEntities (void)
 
void resolveEntities (void)
 
void acquireResources (void)
 
void releaseResources (void)
 
void initializeResources (void)
 
void updateParameters (bool act_deact=true)
 
void writeParamsXML (std::ostream &os) const
 
- Public Member Functions inherited from DUNE::Tasks::AbstractTask
 AbstractTask (void)
 
virtual ~AbstractTask (void)
 
- Public Member Functions inherited from DUNE::Concurrency::Thread
 Thread (void)
 
virtual ~Thread (void)
 
- Public Member Functions inherited from DUNE::Concurrency::Runnable
 Runnable (void)
 
virtual ~Runnable (void)
 
void start (void)
 
void stop (void)
 
void join (void)
 
void stopAndJoin (void)
 
void setPriority (Scheduler::Policy policy, unsigned priority)
 
State getState (void)
 
bool isCreated (void)
 
bool isStopping (void)
 
bool isRunning (void)
 
bool isStarting (void)
 
bool isDead (void)
 

Public Attributes

Arguments m_args
 
LErrorMap m_errs
 
IMC::OperationalLimits m_ol
 
IMC::EstimatedState m_estate
 
uint8_t m_emask
 
IMC::CacheControl m_cc
 
double m_atest_time
 
bool m_use_cfg
 

Additional Inherited Members

- Static Public Member Functions inherited from DUNE::Concurrency::Thread
static unsigned native (void)
 
- Protected Member Functions inherited from DUNE::Tasks::Task
const char * getEntityLabel (void) const
 
void setEntityLabel (const std::string &label)
 
void setEntityState (IMC::EntityState::StateEnum state, Status::Code code)
 
void setEntityState (IMC::EntityState::StateEnum state, const std::string &description)
 
IMC::EntityState::StateEnum getEntityState (void) const
 
unsigned int reserveEntity (const std::string &label)
 
unsigned int resolveEntity (const std::string &label) const
 
std::string resolveEntity (unsigned int id) const
 
bool stopping (void)
 
bool isActive (void) const
 
void waitForMessages (double timeout)
 
void consumeMessages (void)
 
template<typename T >
Parameterparam (const std::string &name, T &var)
 
template<typename Y , typename T >
Parameterparam (const std::string &name, T &var)
 
template<typename T >
bool paramChanged (T &var)
 
void paramActive (Parameter::Scope def_scope, Parameter::Visibility def_visibility, bool def_value=false)
 
void setParamSectionEditor (const std::string &name)
 
template<typename M , typename T >
void bind (T *task_obj, void(T::*consumer)(const M *)=&T::consume)
 
template<typename T >
void bind (T *task_obj, const std::vector< uint32_t > &list)
 
template<typename T >
void bind (T *task_obj, const std::vector< std::string > &list)
 
void requestActivation (void)
 
void requestDeactivation (void)
 
void activate (void)
 
void activationFailed (const std::string &reason)
 
void deactivate (void)
 
void deactivationFailed (const std::string &reason)
 
virtual void onEntityReservation (void)
 
virtual void onEntityResolution (void)
 
virtual void onReportEntityState (void)
 
virtual void onResourceAcquisition (void)
 
virtual void onResourceRelease (void)
 
virtual void onResourceInitialization (void)
 
virtual void onRequestActivation (void)
 
virtual void onRequestDeactivation (void)
 
virtual void onActivation (void)
 
virtual void onDeactivation (void)
 
- Protected Member Functions inherited from DUNE::Concurrency::Thread
void startImpl (void)
 
void stopImpl (void)
 
void joinImpl (void)
 
void setPriorityImpl (Scheduler::Policy policy, unsigned priority)
 
- Protected Attributes inherited from DUNE::Tasks::Task
Contextm_ctx
 

Member Typedef Documentation

Mapping of error bitmask to op limits error.

Constructor & Destructor Documentation

Member Function Documentation

void Monitors::OperationalLimits::Task::clearError ( uint8_t  lmask,
const char *  ldesc,
double  v1,
double  v2 
)
inline

Clear an op limit from error state.

Parameters
[in]lmasknew error bitmask
[in]ldescerror description
[in]v1current value
[in]v2limit value

References m_emask, m_errs, and DUNE::Tasks::Task::war().

Referenced by test().

void Monitors::OperationalLimits::Task::consume ( const IMC::OperationalLimits *  msg)
inline
void Monitors::OperationalLimits::Task::consume ( const IMC::EstimatedState *  msg)
inline

References m_estate.

void Monitors::OperationalLimits::Task::consume ( const IMC::GetOperationalLimits *  msg)
inline
void Monitors::OperationalLimits::Task::init ( fp32_t &  v,
fp32_t  dfl,
uint8_t  mask 
)
inline

Initialize op limits mask.

Parameters
[out]vvalue of the limit
[in]dflvalue for the limit
[in]maskinitial mask

References m_ol.

Referenced by onUpdateParameters().

void Monitors::OperationalLimits::Task::onUpdateParameters ( void  )
inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References Monitors::OperationalLimits::Arguments::i_max_altitude, Monitors::OperationalLimits::Arguments::i_max_depth, Monitors::OperationalLimits::Arguments::i_max_speed, Monitors::OperationalLimits::Arguments::i_max_vrate, Monitors::OperationalLimits::Arguments::i_min_altitude, Monitors::OperationalLimits::Arguments::i_min_speed, init(), m_args, m_ol, m_use_cfg, and reset().

void Monitors::OperationalLimits::Task::reset ( void  )
inline

Reset task to initial state.

References m_atest_time, m_emask, m_errs, m_ol, and DUNE::Tasks::Task::setEntityState().

Referenced by consume(), and onUpdateParameters().

void Monitors::OperationalLimits::Task::setError ( uint8_t  lmask,
const char *  ldesc,
double  v1,
double  v2 
)
inline

Set an op limit to error mode.

Parameters
[in]lmasknew error bitmask
[in]ldescerror description
[in]v1current value
[in]v2limit value

References Monitors::OperationalLimits::Task::LError::desc, DUNE::Tasks::Task::err(), m_emask, m_errs, Monitors::OperationalLimits::Task::LError::v1, and Monitors::OperationalLimits::Task::LError::v2.

Referenced by test().

void Monitors::OperationalLimits::Task::task ( void  )
inlinevirtual
bool Monitors::OperationalLimits::Task::test ( uint8_t  lmask,
const char *  ldesc,
double  v1,
double  v2,
double  hyst = 0.0 
)
inline

Clear an op limit from error state.

Parameters
[in]lmasknew error bitmask
[in]ldescerror description
[in]v1current value
[in]v2limit value
[in]hysthysteresis factor to avoid chattering
Returns
true if in error mode

References clearError(), m_emask, m_ol, and setError().

Referenced by task().

void Monitors::OperationalLimits::Task::updateState ( void  )
inline

Update state of the system.

References m_emask, m_errs, and DUNE::Tasks::Task::setEntityState().

Referenced by task().

Member Data Documentation

Arguments Monitors::OperationalLimits::Task::m_args

Task arguments.

Referenced by onUpdateParameters(), Task(), and task().

double Monitors::OperationalLimits::Task::m_atest_time

Time of next area limit test.

Referenced by reset(), and task().

IMC::CacheControl Monitors::OperationalLimits::Task::m_cc

Cache control message.

Referenced by consume().

uint8_t Monitors::OperationalLimits::Task::m_emask

Error mask.

Referenced by clearError(), reset(), setError(), task(), test(), and updateState().

LErrorMap Monitors::OperationalLimits::Task::m_errs

Error map.

Referenced by clearError(), reset(), setError(), task(), and updateState().

IMC::EstimatedState Monitors::OperationalLimits::Task::m_estate

Last EstimatedState message.

Referenced by consume(), and task().

IMC::OperationalLimits Monitors::OperationalLimits::Task::m_ol

Limits in use.

Referenced by consume(), init(), onUpdateParameters(), reset(), task(), and test().

bool Monitors::OperationalLimits::Task::m_use_cfg

Use configuration flag.

Referenced by consume(), and onUpdateParameters().

Collaboration diagram for Monitors::OperationalLimits::Task:
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